/SLAM-Hive/slam_hive_results/mapping_results/3169/2374_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-4.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720553775.943661113]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720553775.944932257]: init begins[0m
[31m[ERROR] [1720553775.945963818]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/81dab206-3e2a-11ef-8ee2-0242ac110005/roslaunch-bacf3a93d8ae-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://bacf3a93d8ae:44043/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1720553777.050631713]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720553777.051269471]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720553777.057105837]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720553777.057327310]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720553777.057360619]: ROW: 192 COL: 300 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g       0       0 9.81007
[0m[ INFO] [1720553777.057574272]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720553777.057767219]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720553777.057927100]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://bacf3a93d8ae:11311/[0m
]2;roscore http://bacf3a93d8ae:11311/
[1msetting /run_id to 81dab206-3e2a-11ef-8ee2-0242ac110005[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720553786.095236998]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316916655.76 
 0.260797  0.261977  0.929168
        0 -0.962476  0.271368
 0.965394 -0.070772 -0.251011
[33m[ WARN] [1720553787.510755280]: gyroscope bias initial calibration -0.00231712   0.0205592    0.077514[0m
[0m[ INFO] [1720553787.539034111]: Initialization finish![0m
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time: 1403637265.388319, t: 0.735001 0.272204 0.212019 q: -0.101507 0.794703 0.077039 0.593471 
time: 1403637265.488319, t: 0.734938 0.272213 0.212117 q: -0.101510 0.794727 0.076974 0.593447 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720553922.867150249]: Shutdown request received.[0m
[33m[ WARN] [1720553922.867194971]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720553922.868118174]: Shutdown request received.[0m
[33m[ WARN] [1720553922.868145474]: Reason given for shutdown: [user request][0m
killed
